
This work presents BundleTrack, a general framework for tracking the 6D pose of novel objects without any assumptions on instance or category-level 3D models. Extensive experiments demonstrate that it is able to perform long-term accurate tracking under various challenging scenarios. It even achieves comparable performance to state-of-art methods that depend on the target object's CAD model. Future research includes the exploration of combining BundleTrack with model-free grasping methods [1]}, [2]}, to perform robust pick-and-place [3]}, [4]} or in-hand dexterous manipulation for a wide variety of novel objects.
